//------------------------------------------------------------------------------
//  <copyright file="SphereElement.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//  </copyright>
//------------------------------------------------------------------------------

namespace Microsoft.Robotics.Geometry
{
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Numerics;

    /// <summary>
    /// A sphere element in the world
    /// </summary>
    [DataContract]
    public class SphereElement : GeometryElement3D
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="SphereElement" /> class.
        /// </summary>
        /// <param name="location">Location of the center of this sphere</param>
        /// <param name="radius">The radius</param>
        public SphereElement(Vector3 location, double radius)
            : base()
        {
            this.Location = location;
            this.Radius = radius;
        }

        /// <summary>
        /// Gets the location of the center of the sphere
        /// </summary>
        [DataMember]
        public Vector3 Location { get; private set; }

        /// <summary>
        /// Gets the radius of the sphere
        /// </summary>
        [DataMember]
        public double Radius { get; private set; }

        /// <summary>
        /// Compute the distance from another world element to this sphere
        /// </summary>
        /// <param name="e">A world element</param>
        /// <returns>The distances from a world element</returns>
        public override double DistanceFrom(GeometryElement3D e)
        {
            if (e is TriangleElement)
            {
                return GeometricCalculations.ComputeDistance((TriangleElement)e, this);
            }
            else if (e is SphereElement)
            {
                return GeometricCalculations.ComputeDistance((SphereElement)e, this);
            }
            else
            {
                throw new System.NotImplementedException();
            }
        }
    }
}
